考虑系统不确定性的汽车悬架系统自适应反推控制
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- 英文论文题名：Adaptive Backstepping Controller Design for Vehicle Suspension System with Considering System Uncertainties
- 论文作者：陈嘉楠 ; 庞辉 ; 陈英 ; 刘凯
- 英文论文作者：Chen Jianan ; Pang Hui ; Chen Ying ; Liu Kai ; School of Mechanical and Precision Instrument Engineering ; XI'AN University of Technology
- 年：2016
- 作者机构：西安理工大学机械与精密仪器工程学院机械设计系;
- 论文关键词：汽车 ; 半主动悬架 ; 系统不确定性 ; 自适应反推控制 ; Lypaunov稳定性
- 英文论文关键词：vehicle ; semi-active suspension ; system uncertainties ; adaptive backstepping control ; Lypaunov stability
- 会议召开时间：2016-10-26
- 会议录名称：2016中国汽车工程学会年会论文集
- 英文会议录名称：Proceedings of 2016 SAE-China Congress
- 语种：中文
- 分类号：U463.33
- 学会代码：QCGC
- 会议名称：2016中国汽车工程学会年会暨展览会
- 会议地点：中国上海
- 主办单位：中国汽车工程学会
- 学会名称：中国汽车工程学会
- 页数：8
- 文件大小：440k
- 原文格式：O
- 会议级别：全国
摘要
针对汽车磁流变半主动悬架系统的非线性和参数不确定性问题,提出一种考虑系统不确定性的汽车悬架系统自适应反推控制器设计方法。通过建立悬架系统动力学状态方程,给出被控悬架系统综合控制目标的约束范围,用以保证悬架系统具有良好的动态性能和安全约束性能。基于自适应反推控制方法和Lypaunov理论设计了一种能够处理约束问题的自适应反推控制器,提出基于投影算子的自适应控制律。最后,通过仿真试验验证了本文所提出的汽车悬架系统自适应反推控制器在正弦信号和凸块信号扰动下的可行性和有效性。
The problem of nonlinear and uncertainties about vehicle semi-active suspension systems with MR damper is studied,and a new adaptive backstepping controller design approach for vehicle suspension system is proposed with considering system uncertainties.A 2-DOF of freedom vehicle dynamic state equation is developed and the constraints of control variable ranges are determined based on the requirements of vehicle suspension system,which is used to guarantee dynamic and safety performances of vehicle suspension.Based on this,the adaptive backstepping controller that is able to cope with time-delay constraints is constructed,and the adaptive control law based on projective operator is proposed by combining backstepping technique and Lyapunov stability theory.Finally,numerical simulations are provided to verify the feasibility and effectiveness of the proposed controller under road input disturbance of sinusoidal signal and bump signal.
The problem of nonlinear and uncertainties about vehicle semi-active suspension systems with MR damper is studied,and a new adaptive backstepping controller design approach for vehicle suspension system is proposed with considering system uncertainties.A 2-DOF of freedom vehicle dynamic state equation is developed and the constraints of control variable ranges are determined based on the requirements of vehicle suspension system,which is used to guarantee dynamic and safety performances of vehicle suspension.Based on this,the adaptive backstepping controller that is able to cope with time-delay constraints is constructed,and the adaptive control law based on projective operator is proposed by combining backstepping technique and Lyapunov stability theory.Finally,numerical simulations are provided to verify the feasibility and effectiveness of the proposed controller under road input disturbance of sinusoidal signal and bump signal.
引文
[1]Du H,Sze K Y,Lam J.Semi-active Hoo control of vehicle suspension with magneto-rheological dampers[J].Journal of Sound&Vibration,2005,283(283):981-996.
[2]张立军,张天侠.车辆非平稳状态行驶下的半主动悬架控制[J].振动与冲击,2010,29(6):189-193.ZHANG Lijun,ZHANG Tianxia.Semi-active control of vehicle suspension under nonstationary running condition[J].Journal of Vibration and Shock,2010,29(6):189-193.
[3]董小闵,余淼,廖昌荣,等.具有非线性时滞的汽车磁流变悬架系统自适应模糊滑模控制[J].振动与冲击,2009,28(11):55-60.DONG Xiaomin,YU Miao,LIAO Changrong,et al.Adaptive fuzzy sliding mode control for magentorheological suspension system considering nonlinearity and time delay[J].Journal of Vibration and Shock,2009,28(11):55-60.
[4]Zapateiro M,Luo N,Karimi HR,et al.Vibration control of a class of semi-active suspension system using neural network and backstepping techniques[J].Mechanical Systems and Signal Processing,2009,23(6):1946-1953.
[5]Cao D,Song X,Ahmadian M.Editors'perspectives:road vehicle suspension design,dynamics,and control[J].Vehicle System Dynamics,2011,49(1-2):3-28.
[6]叶光湖,吴光强.汽车磁流变减振器半主动空气悬架仿真研究[J].汽车工程,2015,37(5):560-565.YE Guanghu,WU Guangqiang.A Study on the Simulation of Semi-active Air Suspension with Magneto-rheological Damper[J].Automotive Engineering,2015,37(5):560-565.
[7]Y Xu,M Ahmadian,R Sun.Improving Vehicle Lateral Stability Based on Variable Stiffness and Damping Suspension System via MR Damper[J].IEEE Transactions on Vehicular Technology,2014,63(3):1071-1078.
[8]陈宇航,严卫生,高剑,杜亮.水下滑翔机纵倾运动的自适应积分反演控制[J].兵工学报,2011,32(8):981-985.CHEN Yuhang,YAN Weisheng,GAO Jian,DU Liang.Adaptive Integral Backstepping Control for Vertical Pitch Motion of Underwater Gliders[J].Acta Armamentarii,2011,32(8):981-985.
[9]Kyoung Kwan Ahn,Doan Ngoc Chi Nam,Maolin Jin.Adaptive Backstepping Control of an Electrohydraulic Actuator[J].Mechatronics,IEEE/ASME Transactions on,2014,19(3):987-995.
[10]单文桃,陈小安.高速电主轴块控自适应反演控制[J].振动与冲击,2015(23):99-105.SHAN Wentao,CHEN Xiaoan.Block adaptive backstepping control for a high-speed motorized spindle[J],Journal of Vibration and Shock,2015(23):99-105.
[11]高长生,荆武兴,李君龙.基于自适应反演法的质量矩导弹控制律设计[J].兵工学报,2011,32(6):686-690.GAO Changsheng,JING Wuxing,LI Jun Long.Robust Adaptive Backstepping Control for Mass Moment Missile with Dynamic Surface Filtering[J].ActaArmamentarii,2011,32(6):686-690.
[12]M Li,W Jing,M Macdonald,CR Mcinnes.Adaptive backstepping control for optimal descent with embedded autonomy[J].Aerospace Science&Technology,2011,15(7):589-594.
[13]吴忠强,邝钰.汽车磁流变半主动悬架反步自适应控制研究[J].机械设计,2010,27(4):25-28.WU Zhongqiang,KUANG Yu.Study of adaptive backstepping control for magneto-rheo-logical fluid Semi-active vehicle suspension system[J].Journal of mechanical design,2010,27(4):25-28.
[14]余淼,毛林章,廖昌荣,等.基于磁流变阻尼器的汽车半主动悬架的振动控制[J].传感器与微系统,2007,26(12):34-40.YU Miao,MAO Linzhang,LIAO Changrong,CHEN Weimin.Vibration control of vehicle semi-active suspension system based on magneto-rheological fluid damper[J].Transducer and Microsystem Technologies,2007,26(12):34-40.
[15]W Sun,H Gao,O Kaynak.Adaptive Backstepping Control for Active Suspension Systems With Hard Constraints[J].IEEE/ASME Transactions on Mechatronics,2013,18(18):1072-1079.
[2]张立军,张天侠.车辆非平稳状态行驶下的半主动悬架控制[J].振动与冲击,2010,29(6):189-193.ZHANG Lijun,ZHANG Tianxia.Semi-active control of vehicle suspension under nonstationary running condition[J].Journal of Vibration and Shock,2010,29(6):189-193.
[3]董小闵,余淼,廖昌荣,等.具有非线性时滞的汽车磁流变悬架系统自适应模糊滑模控制[J].振动与冲击,2009,28(11):55-60.DONG Xiaomin,YU Miao,LIAO Changrong,et al.Adaptive fuzzy sliding mode control for magentorheological suspension system considering nonlinearity and time delay[J].Journal of Vibration and Shock,2009,28(11):55-60.
[4]Zapateiro M,Luo N,Karimi HR,et al.Vibration control of a class of semi-active suspension system using neural network and backstepping techniques[J].Mechanical Systems and Signal Processing,2009,23(6):1946-1953.
[5]Cao D,Song X,Ahmadian M.Editors'perspectives:road vehicle suspension design,dynamics,and control[J].Vehicle System Dynamics,2011,49(1-2):3-28.
[6]叶光湖,吴光强.汽车磁流变减振器半主动空气悬架仿真研究[J].汽车工程,2015,37(5):560-565.YE Guanghu,WU Guangqiang.A Study on the Simulation of Semi-active Air Suspension with Magneto-rheological Damper[J].Automotive Engineering,2015,37(5):560-565.
[7]Y Xu,M Ahmadian,R Sun.Improving Vehicle Lateral Stability Based on Variable Stiffness and Damping Suspension System via MR Damper[J].IEEE Transactions on Vehicular Technology,2014,63(3):1071-1078.
[8]陈宇航,严卫生,高剑,杜亮.水下滑翔机纵倾运动的自适应积分反演控制[J].兵工学报,2011,32(8):981-985.CHEN Yuhang,YAN Weisheng,GAO Jian,DU Liang.Adaptive Integral Backstepping Control for Vertical Pitch Motion of Underwater Gliders[J].Acta Armamentarii,2011,32(8):981-985.
[9]Kyoung Kwan Ahn,Doan Ngoc Chi Nam,Maolin Jin.Adaptive Backstepping Control of an Electrohydraulic Actuator[J].Mechatronics,IEEE/ASME Transactions on,2014,19(3):987-995.
[10]单文桃,陈小安.高速电主轴块控自适应反演控制[J].振动与冲击,2015(23):99-105.SHAN Wentao,CHEN Xiaoan.Block adaptive backstepping control for a high-speed motorized spindle[J],Journal of Vibration and Shock,2015(23):99-105.
[11]高长生,荆武兴,李君龙.基于自适应反演法的质量矩导弹控制律设计[J].兵工学报,2011,32(6):686-690.GAO Changsheng,JING Wuxing,LI Jun Long.Robust Adaptive Backstepping Control for Mass Moment Missile with Dynamic Surface Filtering[J].ActaArmamentarii,2011,32(6):686-690.
[12]M Li,W Jing,M Macdonald,CR Mcinnes.Adaptive backstepping control for optimal descent with embedded autonomy[J].Aerospace Science&Technology,2011,15(7):589-594.
[13]吴忠强,邝钰.汽车磁流变半主动悬架反步自适应控制研究[J].机械设计,2010,27(4):25-28.WU Zhongqiang,KUANG Yu.Study of adaptive backstepping control for magneto-rheo-logical fluid Semi-active vehicle suspension system[J].Journal of mechanical design,2010,27(4):25-28.
[14]余淼,毛林章,廖昌荣,等.基于磁流变阻尼器的汽车半主动悬架的振动控制[J].传感器与微系统,2007,26(12):34-40.YU Miao,MAO Linzhang,LIAO Changrong,CHEN Weimin.Vibration control of vehicle semi-active suspension system based on magneto-rheological fluid damper[J].Transducer and Microsystem Technologies,2007,26(12):34-40.
[15]W Sun,H Gao,O Kaynak.Adaptive Backstepping Control for Active Suspension Systems With Hard Constraints[J].IEEE/ASME Transactions on Mechatronics,2013,18(18):1072-1079.